摘要： 介绍了在Jack软件系统中如何实现对物体的抓握及其存在的问题，阐述了应用碰撞检测技术在Jack系统中仿真虚拟人体对各种形状物体的抓握过程的方法，包括抓握前准备(即初始手形的选取)、抓握动作的完成(即抓握位置的定位以及抓握动作的完成)2部分内容。这种抓握仿真的实现不仅克服了Jack系统现有抓握功能的不足，而且大大提高了用户在Jack系统中仿真抓握动作的效率。

关键词: Jack系统, 虚拟现实, 碰撞检测, 抓握仿真

Abstract: A simulation method of grasping objects in Jack environment and its disadvantage are introduced, and another method for grasp simulation with Jack by detecting collision is put forward, which includes grasp preparing, grasp positioning, and grasp motion executing. The implementation of grasp simulation method can not only overcome the shortcomings of current simulation method, but also can greatly improve the efficiency for user to simulate grasp motion.

Key words: Jack system, Virtual reality, Collision detection, Simulation of grasp